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 P-M. Olsson and P. Doherty. The Observer Algorithm for Visibility Approximation. In Proceedings of Scandinavian Conference on Artifical Intelligence, 2008.
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 A. Holmberg and P-M. Olsson. Route Planning for Relay UAV. Presented at the 26th Congress of the International Council of Aeronautical Science, Including the 8th AIAA Aircraft Technology, Integration, and Operations Conference, 2008.
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